From 6b7b69a048211422526f39e9e76eee568863966c Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 29 Jun 2013 10:14:43 +1000 Subject: [PATCH] RC_Channel: added secondary rudder support this is used when nose wheel steering needs different reverse/range from rudder --- libraries/RC_Channel/RC_Channel_aux.cpp | 9 ++------- libraries/RC_Channel/RC_Channel_aux.h | 1 + 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp index 9410b2d46e..40d52fb663 100644 --- a/libraries/RC_Channel/RC_Channel_aux.cpp +++ b/libraries/RC_Channel/RC_Channel_aux.cpp @@ -12,7 +12,7 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = { // @Param: FUNCTION // @DisplayName: Servo out function // @Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function - // @Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput + // @Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder // @User: Standard AP_GROUPINFO("FUNCTION", 1, RC_Channel_aux, function, 0), @@ -75,16 +75,11 @@ void update_aux_servo_function( RC_Channel_aux* rc_a, break; case RC_Channel_aux::k_aileron: case RC_Channel_aux::k_aileron_with_input: - _aux_channels[i]->set_angle(4500); - break; case RC_Channel_aux::k_elevator: case RC_Channel_aux::k_elevator_with_input: - _aux_channels[i]->set_angle(4500); - break; case RC_Channel_aux::k_dspoiler1: - _aux_channels[i]->set_angle(4500); - break; case RC_Channel_aux::k_dspoiler2: + case RC_Channel_aux::k_rudder: _aux_channels[i]->set_angle(4500); break; default: diff --git a/libraries/RC_Channel/RC_Channel_aux.h b/libraries/RC_Channel/RC_Channel_aux.h index ee9abb1d37..9952c538ed 100644 --- a/libraries/RC_Channel/RC_Channel_aux.h +++ b/libraries/RC_Channel/RC_Channel_aux.h @@ -47,6 +47,7 @@ public: k_aileron_with_input = 18, ///< aileron, with rc input k_elevator = 19, ///< elevator k_elevator_with_input = 20, ///< elevator, with rc input + k_rudder = 21, ///< secondary rudder channel k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one) } Aux_servo_function_t;